(19)

(11)

EP 4 214 025 A1

(12)

(43) Date of publication: 26.07.2023 Bulletin 2023/30 (21) Application number: 20953623.4 (22) Date of filing: 17.09.2020

(51) International Patent Classification (IPC):  B25J 9/16(2006.01) (52) Cooperative Patent Classification (CPC): B25J 9/1692; G05B 2219/39024; G05B 2219/36415; G05B 2219/39191 (86) International application number: PCT/CN2020/115815 (87) International publication number: WO 2022/056765 (24.03.2022 Gazette 2022/12)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (71) Applicant: ABB SCHWEIZ AG 5400 Baden (CH)	(72) Inventors: MAO, Yichao Shanghai 210000 (CN) ZHANG, Jiafan Shanghai 200092 (CN) (74) Representative: Zimmermann & Partner Patentanwälte mbB  Postfach 330 920 80069 München 80069 München (DE)